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<div class="title">model_library.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_MODEL_LIBRARY_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_MODEL_LIBRARY_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;auxiliary.h&quot;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/voxel_structure.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/orr_octree.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="random_8h.html">pcl/common/random.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;ctime&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html">   59</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_model_library.html">ModelLibrary</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">   66</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; points, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>&amp; normals, <span class="keywordtype">float</span> voxel_size, <span class="keyword">const</span> std::string&amp; object_name,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                   <span class="keywordtype">float</span> frac_of_points_for_registration, <span class="keywordtype">void</span>* user_data = NULL)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            : obj_name_(object_name),</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;              user_data_ (user_data)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;              octree_.build (points, voxel_size, &amp;normals);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;              <span class="keyword">const</span> std::vector&lt;ORROctree::Node*&gt;&amp; full_leaves = octree_.getFullLeaves ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;              <span class="keywordflow">if</span> ( full_leaves.empty () )</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;              <span class="comment">// Initialize</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;              std::vector&lt;ORROctree::Node*&gt;::const_iterator it = full_leaves.begin ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">float</span> *p = (*it)-&gt;getData ()-&gt;getPoint ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;              aux::copy3 (p, octree_center_of_mass_);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;              bounds_of_octree_points_[0] = bounds_of_octree_points_[1] = p[0];</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;              bounds_of_octree_points_[2] = bounds_of_octree_points_[3] = p[1];</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;              bounds_of_octree_points_[4] = bounds_of_octree_points_[5] = p[2];</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;              <span class="comment">// Compute both the bounds and the center of mass of the octree points</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;              <span class="keywordflow">for</span> ( ++it ; it != full_leaves.end () ; ++it )</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;              {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                aux::add3 (octree_center_of_mass_, (*it)-&gt;getData ()-&gt;getPoint ());</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                aux::expandBoundingBoxToContainPoint (bounds_of_octree_points_, (*it)-&gt;getData ()-&gt;getPoint ());</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;              }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;              <span class="keywordtype">int</span> num_octree_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (full_leaves.size ());</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;              <span class="comment">// Finalize the center of mass computation</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;              aux::mult3 (octree_center_of_mass_, 1.0f/<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_octree_points));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;              <span class="keywordtype">int</span> num_points_for_registration = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_octree_points)*frac_of_points_for_registration);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;              points_for_registration_.resize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (num_points_for_registration));</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;              <span class="comment">// Prepare for random point sampling</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;              std::vector&lt;int&gt; ids (num_octree_points);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;              <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i = 0 ; i &lt; num_octree_points ; ++i )</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                ids[i] = i;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;              <span class="comment">// The random generator</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;              <a class="code" href="classpcl_1_1common_1_1_uniform_generator.html">pcl::common::UniformGenerator&lt;int&gt;</a> randgen (0, num_octree_points - 1, <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (time (NULL)));</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;              <span class="comment">// Randomly sample some points from the octree</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;              <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i = 0 ; i &lt; num_points_for_registration ; ++i )</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;              {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                <span class="comment">// Choose a random position within the array of ids</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                randgen.<a class="code" href="classpcl_1_1common_1_1_uniform_generator.html#a3963a7ac25388e77cdfab6641cc46b9c">setParameters</a> (0, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (ids.size ()) - 1);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                <span class="keywordtype">int</span> rand_pos = randgen.<a class="code" href="classpcl_1_1common_1_1_uniform_generator.html#a1b35f7a228b1267c21a1adc519a64b9d">run</a> ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                <span class="comment">// Copy the randomly selected octree point</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                aux::copy3 (octree_.getFullLeaves ()[ids[rand_pos]]-&gt;getData ()-&gt;getPoint (), points_for_registration_[i]);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                <span class="comment">// Delete the selected id</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                ids.erase (ids.begin() + rand_pos);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;              }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a> ()</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            getObjectName ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;              <span class="keywordflow">return</span> (obj_name_);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">ORROctree</a>&amp;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            getOctree ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;              <span class="keywordflow">return</span> (octree_);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span>*</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            getUserData ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;              <span class="keywordflow">return</span> (user_data_);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            getOctreeCenterOfMass ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;              <span class="keywordflow">return</span> (octree_center_of_mass_);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            getBoundsOfOctreePoints ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;              <span class="keywordflow">return</span> (bounds_of_octree_points_);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            getPointsForRegistration ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;              <span class="keywordflow">return</span> (points_for_registration_);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <span class="keyword">const</span> std::string obj_name_;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">ORROctree</a> octree_;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <span class="keywordtype">float</span> octree_center_of_mass_[3];</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            <span class="keywordtype">float</span> bounds_of_octree_points_[6];</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> points_for_registration_;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            <span class="keywordtype">void</span>* user_data_;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        };</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">typedef</span> std::list&lt;std::pair&lt;const ORROctree::Node::Data*, const ORROctree::Node::Data*&gt; &gt; node_data_pair_list;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">typedef</span> std::map&lt;const Model*, node_data_pair_list&gt; HashTableCell;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">VoxelStructure&lt;HashTableCell, float&gt;</a> <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">HashTable</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#a9f6369009e0fe37f37b42378218a9cdf">  181</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#a9f6369009e0fe37f37b42378218a9cdf">ModelLibrary</a> (<span class="keywordtype">float</span> pair_width, <span class="keywordtype">float</span> voxel_size, <span class="keywordtype">float</span> max_coplanarity_angle = 3.0f*AUX_DEG_TO_RADIANS<span class="comment">/*3 degrees*/</span>);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_model_library.html">ModelLibrary</a> ()</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          this-&gt;clear();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#a890931079e5faecb760b827412d252e0">  189</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#a890931079e5faecb760b827412d252e0">removeAllModels</a> ();</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#aa52dac576d8c993c2158ce11054738f0">  195</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#aa52dac576d8c993c2158ce11054738f0">setMaxCoplanarityAngleDegrees</a> (<span class="keywordtype">float</span> max_coplanarity_angle_degrees)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          max_coplanarity_angle_ = max_coplanarity_angle_degrees*AUX_DEG_TO_RADIANS;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#af5bcb4aae8b9f458c043b10c9b262c47">  203</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#af5bcb4aae8b9f458c043b10c9b262c47">ignoreCoplanarPointPairsOn</a> ()</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          ignore_coplanar_opps_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#aa87124fd7054fae1807b15cca036d789">  211</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#aa87124fd7054fae1807b15cca036d789">ignoreCoplanarPointPairsOff</a> ()</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          ignore_coplanar_opps_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#ab353079625ae227317aae965fb1d6879">  226</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#ab353079625ae227317aae965fb1d6879">addModel</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; points, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>&amp; normals, <span class="keyword">const</span> std::string&amp; object_name,</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                  <span class="keywordtype">float</span> frac_of_points_for_registration, <span class="keywordtype">void</span>* user_data = NULL);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">HashTable</a>&amp;</div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#ad30f9438e1c3662aab0da4b1c884e022">  231</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#ad30f9438e1c3662aab0da4b1c884e022">getHashTable</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          <span class="keywordflow">return</span> (hash_table_);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> Model*</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        getModel (<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> const</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          std::map&lt;std::string,Model*&gt;::const_iterator it = models_.find (name);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          <span class="keywordflow">if</span> ( it != models_.end () )</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            <span class="keywordflow">return</span> (it-&gt;second);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          <span class="keywordflow">return</span> (NULL);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::map&lt;std::string,Model*&gt;&amp;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        getModels ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          <span class="keywordflow">return</span> (models_);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#a60462d8c56de748a5452f34c8b6b4c08">  255</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#a60462d8c56de748a5452f34c8b6b4c08">clear</a> ();</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_model_library.html#ab049897dbe5752ac851fb15d796e0601">  259</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html#ab049897dbe5752ac851fb15d796e0601">addToHashTable</a> (<a class="code" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">Model</a>* model, <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">ORROctree::Node::Data</a>* data1, <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">ORROctree::Node::Data</a>* data2);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordtype">float</span> pair_width_;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <span class="keywordtype">float</span> voxel_size_;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keywordtype">float</span> max_coplanarity_angle_;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keywordtype">bool</span> ignore_coplanar_opps_;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        std::map&lt;std::string,Model*&gt; models_;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">HashTable</a> hash_table_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="keywordtype">int</span> num_of_cells_[3];</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    };</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_RECOGNITION_MODEL_LIBRARY_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1common_1_1_uniform_generator_html"><div class="ttname"><a href="classpcl_1_1common_1_1_uniform_generator.html">pcl::common::UniformGenerator</a></div><div class="ttdoc">UniformGenerator class generates a random number from range [min, max] at each run picked according t...</div><div class="ttdef"><b>Definition:</b> random.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1common_1_1_uniform_generator_html_a1b35f7a228b1267c21a1adc519a64b9d"><div class="ttname"><a href="classpcl_1_1common_1_1_uniform_generator.html#a1b35f7a228b1267c21a1adc519a64b9d">pcl::common::UniformGenerator::run</a></div><div class="ttdeci">T run()</div><div class="ttdef"><b>Definition:</b> random.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1common_1_1_uniform_generator_html_a3963a7ac25388e77cdfab6641cc46b9c"><div class="ttname"><a href="classpcl_1_1common_1_1_uniform_generator.html#a3963a7ac25388e77cdfab6641cc46b9c">pcl::common::UniformGenerator::setParameters</a></div><div class="ttdeci">void setParameters(T min, T max, pcl::uint32_t seed=-1)</div><div class="ttdef"><b>Definition:</b> random.hpp:82</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_1_1_model_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">pcl::recognition::ModelLibrary::Model</a></div><div class="ttdoc">Stores some information about the model.</div><div class="ttdef"><b>Definition:</b> model_library.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html">pcl::recognition::ModelLibrary</a></div><div class="ttdef"><b>Definition:</b> model_library.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_a60462d8c56de748a5452f34c8b6b4c08"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#a60462d8c56de748a5452f34c8b6b4c08">pcl::recognition::ModelLibrary::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all models from the library and destroys the hash table. This method should be called upon de...</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_a890931079e5faecb760b827412d252e0"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#a890931079e5faecb760b827412d252e0">pcl::recognition::ModelLibrary::removeAllModels</a></div><div class="ttdeci">void removeAllModels()</div><div class="ttdoc">Removes all models from the library and clears the hash table.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_a9f6369009e0fe37f37b42378218a9cdf"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#a9f6369009e0fe37f37b42378218a9cdf">pcl::recognition::ModelLibrary::ModelLibrary</a></div><div class="ttdeci">ModelLibrary(float pair_width, float voxel_size, float max_coplanarity_angle=3.0f *AUX_DEG_TO_RADIANS)</div><div class="ttdoc">This class is used by 'ObjRecRANSAC' to maintain the object models to be recognized....</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_aa52dac576d8c993c2158ce11054738f0"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#aa52dac576d8c993c2158ce11054738f0">pcl::recognition::ModelLibrary::setMaxCoplanarityAngleDegrees</a></div><div class="ttdeci">void setMaxCoplanarityAngleDegrees(float max_coplanarity_angle_degrees)</div><div class="ttdoc">This is a threshold. The larger the value the more point pairs will be considered as co-planar and wi...</div><div class="ttdef"><b>Definition:</b> model_library.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_aa87124fd7054fae1807b15cca036d789"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#aa87124fd7054fae1807b15cca036d789">pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOff</a></div><div class="ttdeci">void ignoreCoplanarPointPairsOff()</div><div class="ttdoc">Call this method in order to add all point pairs (co-planar as well) to the hash table....</div><div class="ttdef"><b>Definition:</b> model_library.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_ab049897dbe5752ac851fb15d796e0601"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#ab049897dbe5752ac851fb15d796e0601">pcl::recognition::ModelLibrary::addToHashTable</a></div><div class="ttdeci">bool addToHashTable(Model *model, const ORROctree::Node::Data *data1, const ORROctree::Node::Data *data2)</div><div class="ttdoc">Returns true if the oriented point pair was added to the hash table and false otherwise.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_ab353079625ae227317aae965fb1d6879"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#ab353079625ae227317aae965fb1d6879">pcl::recognition::ModelLibrary::addModel</a></div><div class="ttdeci">bool addModel(const PointCloudIn &amp;points, const PointCloudN &amp;normals, const std::string &amp;object_name, float frac_of_points_for_registration, void *user_data=NULL)</div><div class="ttdoc">Adds a model to the hash table.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_ad30f9438e1c3662aab0da4b1c884e022"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#ad30f9438e1c3662aab0da4b1c884e022">pcl::recognition::ModelLibrary::getHashTable</a></div><div class="ttdeci">const HashTable &amp; getHashTable() const</div><div class="ttdoc">Returns the hash table built by this instance.</div><div class="ttdef"><b>Definition:</b> model_library.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html_af5bcb4aae8b9f458c043b10c9b262c47"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html#af5bcb4aae8b9f458c043b10c9b262c47">pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOn</a></div><div class="ttdeci">void ignoreCoplanarPointPairsOn()</div><div class="ttdoc">Call this method in order NOT to add co-planar point pairs to the hash table. The default behavior is...</div><div class="ttdef"><b>Definition:</b> model_library.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">pcl::recognition::ORROctree::Node::Data</a></div><div class="ttdef"><b>Definition:</b> orr_octree.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html">pcl::recognition::ORROctree</a></div><div class="ttdoc">That's a very specialized and simple octree class. That's the way it is intended to be,...</div><div class="ttdef"><b>Definition:</b> orr_octree.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html">pcl::recognition::VoxelStructure&lt; HashTableCell, float &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="arandom_8h_html"><div class="ttname"><a href="random_8h.html">random.h</a></div><div class="ttdoc">CloudGenerator class generates a point cloud using some randoom number generator. Generators can be f...</div></div>
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